CN117157233A - Work unit replacement system and work unit replacement station - Google Patents
Work unit replacement system and work unit replacement station Download PDFInfo
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- CN117157233A CN117157233A CN202180096711.1A CN202180096711A CN117157233A CN 117157233 A CN117157233 A CN 117157233A CN 202180096711 A CN202180096711 A CN 202180096711A CN 117157233 A CN117157233 A CN 117157233A
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- work unit
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- guided vehicle
- fixing portion
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- 238000010586 diagram Methods 0.000 description 14
- 230000007246 mechanism Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000001954 sterilising effect Effects 0.000 description 4
- 238000004659 sterilization and disinfection Methods 0.000 description 4
- 230000001174 ascending effect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000015654 memory Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 235000013361 beverage Nutrition 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 235000011888 snacks Nutrition 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
Abstract
The operation unit of the automated guided vehicle is easily and quickly replaced. The work unit changing system (1, 1 ') comprises an unmanned carrier (5, 5 ') and a work unit changing station (19, 19 '). The work unit replacement station includes a first work unit fixing portion (31), a second work unit fixing portion (32), a first supporting portion (21) that partially supports the first work unit fixing portion, a second supporting portion (22) that partially supports the second work unit fixing portion, and a supporting portion (10) that supports the first supporting portion and the second supporting portion to be liftable, respectively.
Description
Technical Field
The present invention relates to a work unit replacement system and a work unit replacement station. In particular, the present invention relates to a work unit replacement system and a work unit replacement station for replacing a work unit provided in an automated guided vehicle (AGV, automatic Guided Vehicle) with another work unit.
Background
Unmanned vehicles used for transporting components in factories and the like are expected to be used in industries other than the manufacturing field due to the development of AI and machine learning.
In other industries, such as hospitals, unmanned vehicles are highly desirable because they can solve the problem of insufficient labor, have no problem in terms of hygiene, and can operate for a long period of time.
Prior art literature
Patent literature
Patent document 1: japanese patent laid-open No. 09-036198
Disclosure of Invention
Problems to be solved by the invention
In general, an automated guided vehicle is integrally formed with a single-function work unit. However, in other industries, different multiple tasks are required for automated guided vehicles. In hospitals, for example, different tasks are sometimes required of the automated guided vehicle during the day and night.
In addition, purchasers of automated guided vehicles often cannot change the function of the automated guided vehicle. Therefore, when a plurality of tasks are required for the automated guided vehicle, it is necessary to prepare a plurality of automated guided vehicles each having a work unit suitable for each task. However, it is difficult to purchase a plurality of expensive automated guided vehicles, and a space for storing the plurality of automated guided vehicles is required.
Alternatively, the purchaser may order the manufacturer to replace a work unit suited for a certain job with another work unit suited for another job. In this case, not only is a complicated procedure necessary, but it is also difficult to quickly replace the work unit with another work unit.
Therefore, a work unit replacement system and a work unit replacement station capable of easily and quickly replacing a work unit of an automated guided vehicle are desired.
Means for solving the problems
According to a first aspect of the present disclosure, there is provided a work unit replacement system including an unmanned carrier and a work unit replacement station, the work unit replacement station including: a first work unit fixing unit to which a first work unit is fixed; a second working unit fixing unit to which a second working unit is fixed; a first supporting portion that partially supports the first work unit fixing portion; a second supporting portion that partially supports the second work unit fixing portion; and a support section that supports the first support section and the second support section so as to be capable of ascending and descending, wherein a slit having a width smaller than that of the first work unit fixing section and the second work unit fixing section is formed in each of the first support section and the second support section, the width of the slit is larger than that of the automated guided vehicle, and a lower surface position of the support section is higher than a top of the automated guided vehicle.
Effects of the invention
In the first aspect, one of the work unit fixing portions is placed on the top of the automated guided vehicle while one of the support portions is being lowered while the automated guided vehicle is positioned below the support portion. In the middle of the lifting of the one support portion, the one work unit fixing portion is engaged with the one support portion and lifted together. By such an operation, the working unit of the automated guided vehicle can be replaced easily and quickly.
The objects, features and advantages of the present invention will become more apparent from the following description of the embodiments taken in conjunction with the accompanying drawings.
Drawings
Fig. 1 is a perspective view of a work unit replacement system according to a first embodiment.
Fig. 2 is a flowchart for explaining the operation of the work unit replacement system shown in fig. 1.
Fig. 3 is a flowchart for explaining the replacement operation of the job unit.
Fig. 4A is a first diagram for explaining the replacement operation of fig. 3.
Fig. 4B is a second diagram for explaining the replacement operation of fig. 3.
Fig. 4C is a third diagram for explaining the replacement operation of fig. 3.
Fig. 4D is a fourth diagram for explaining the replacement operation of fig. 3.
Fig. 4E is a fifth diagram for explaining the replacement operation of fig. 3.
Fig. 4F is a sixth diagram for explaining the replacement operation of fig. 3.
Fig. 5 is a perspective view of a work unit replacement system according to the second embodiment.
Fig. 6 is a flowchart for explaining other operations of the work unit replacement system.
Fig. 7 is a flowchart for explaining the replacement operation of the automated guided vehicle.
Fig. 8A is a first diagram for explaining the replacement operation of fig. 7.
Fig. 8B is a second diagram for explaining the replacement operation of fig. 7.
Fig. 8C is a third diagram for explaining the replacement operation of fig. 7.
Fig. 8D is a fourth diagram for explaining the replacement operation of fig. 7.
Fig. 8E is a fifth diagram for explaining the replacement operation of fig. 7.
Fig. 8F is a sixth diagram for explaining the replacement operation of fig. 7.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, common reference numerals are given to the corresponding components.
Fig. 1 is a perspective view of a work unit replacement system according to a first embodiment. As shown in fig. 1, the work unit replacement system 1 mainly includes an unmanned carrier (AGV, automatic Guided Vehicle) 5 and a work unit replacement station 19 that replaces the work units A1, A2.
The working units A1 and A2 are preferably devices having functions different from each other. In the embodiment shown in fig. 1, the working unit A1 is a cooperative robot that cooperates with a person to perform a predetermined operation, and the working unit A2 is an ultraviolet irradiation device that irradiates ultraviolet rays for the purpose of sterilization or the like.
The working units A1 and A2 are not limited to the working units shown in the drawings. For example, in the case of using the work unit replacement system 1 in a hospital, the work units A1 and A2 may be touch panels or button-type displays or the like including recovery boxes for recovering used clothes, for example, white clothes, vending machines for selling beverages, snacks, daily necessities, storage boxes for storing medicines, surgical items, and the like, and performing a session of a predetermined reception service, doctor, and the like. Of course, when the work unit replacement system 1 is used in other places, such as a shopping mall, work units A1, A2 having other functions may be used.
The lower surfaces of the working units A1 and A2 are fixed to, for example, a first working unit fixing portion 31 and a second working unit fixing portion 32, which are metal plates. Alternatively, when the dimensions described later are satisfied, the lower surfaces of the working units A1 and A2 may be used as the first working unit fixing portion 31 and the second working unit fixing portion 32 as they are. The top of the automated guided vehicle 5 is provided with a locking mechanism (not shown) for the first work unit fixing portion 31 and the second work unit fixing portion 32, respectively. One of the first work unit fixing portion 31 and the second work unit fixing portion 32 is fastened to the automated guided vehicle 5 by a locking mechanism. The locking mechanism may be, for example, a vacuum suction jig. Alternatively, in the case where the first work unit fixing portion 31 and the second work unit fixing portion 32 are metal plates, the locking mechanism may be an electromagnet.
The automated guided vehicle 5 is a known vehicle controlled by a computer provided therein. The conveyance path of the automated guided vehicle 5 may be stored in advance in a memory of a computer, or may be manually input/changed by a control panel 5a provided in the automated guided vehicle 5. Since the automated guided vehicle 5 includes the collision preventing device, the computer of the automated guided vehicle 5 can determine the conveyance path by learning.
The work unit changing station 19 includes a support 10 that supports the first support portion 21 and the second support portion 22 to be liftable and lowerable. The support portion 10 is a skeleton-like shelf having a plurality of leg portions 18. The leg 18 is higher than the automated guided vehicle 5. In addition, the distance between the adjacent two legs 18 is sufficiently large for the automated guided vehicle 5 to travel. Therefore, the automated guided vehicle 5 can travel freely below the support portion 10 without colliding with the leg portion 18.
The first support portion 21 and the second support portion 22 are provided in parallel at a position corresponding to the top plate of the support portion 10. The first support portion 21 and the second support portion 22 can be engaged with the first work unit fixing portion 31 and the second work unit fixing portion 32, respectively.
As shown in fig. 4A described later, the first support portion 21 and the second support portion 22 are connected to a first lifter 41 and a second lifter 42, respectively. The first lifter 41 and the second lifter 42 are well known, and thus their description is omitted. In other words, the first support portion 21 and the second support portion 22 are supported by the support portion 10 so as to be capable of being lifted and lowered between a predetermined lifting position and a predetermined lowering position. In fig. 1, a first support portion 21 and a second support portion 22 are shown in a predetermined raised position. The predetermined lowered position is a position between the predetermined raised position and the floor portion.
As can be seen from fig. 1, slits 21a, 22a are formed in the front surface side of the support 10 in the first support portion 21 and the second support portion 22. The width of each of the slits 21a, 22a in the juxtaposed direction of the first and second support portions 21, 22 is smaller than the width of the first and second work unit fixing portions 31, 32. Therefore, as shown in fig. 1, the first work unit fixing portion 31 and the second work unit fixing portion 32 are not separated from the slits 21a and 22a, and the first work unit fixing portion 31 and the second work unit fixing portion 32 are placed on the first support portion 21 and the second support portion 22, respectively. In other words, the first and second support portions 21 and 22 partially support the first and second work unit fixing portions 31 and 32, respectively.
Further, the width of each of the slits 21a, 22a in the juxtaposed direction of the first support portion 21 and the second support portion 22 is larger than the width of the top of the automated guided vehicle 5. Therefore, when the first support portion 21 or the second support portion 22 is lowered by the first lifter 41 or the second lifter 42, the entire top of the automated guided vehicle 5 is in contact with the first work unit fixing portion 31 or the second work unit fixing portion 32.
Fig. 2 is a flowchart for explaining the operation of the work unit replacement system shown in fig. 1. The contents of fig. 2 are stored in the memory of the computer provided in the automated guided vehicle 5 along the path of the automated guided vehicle 5. Before the start of step S1 of fig. 2, the automated guided vehicle 5 is in an initial position corresponding to the lower side of the first support portion 21.
First, in step S1, it is determined whether or not the working unit A1 is attached to the top of the automated guided vehicle 5 via the first working unit fixing section 31, and if not, in step S2, the working unit A1 is attached to the top of the automated guided vehicle 5. When it is determined that the working unit A2 is mounted on the top of the automated guided vehicle 5, the working unit A2 is replaced with the working unit A1 in step S2. The replacement/installation of the working unit will be described later.
Next, in step S3, it is determined whether or not the current time is the first predetermined time. If the current time is the first predetermined time, the flow advances to step S4, where the automated guided vehicle 5 starts from the support unit 10 and travels along the predetermined first path in a state where the working unit A1 is mounted. For example, when the working unit A1 is a cooperative robot, the automated guided vehicle 5 travels to a predetermined location, and the cooperative robot is started to perform a predetermined work in cooperation with the operator.
Next, in step S5, it is determined whether or not the current time is a second predetermined time after the first predetermined time. If the current time is the second predetermined time, the process advances to step S6, where the automated guided vehicle 5 returns to the work unit replacement station 19. Then, in step S7, the working unit A1 attached to the automated guided vehicle 5 is replaced with another working unit A2 as described later.
Next, in step S8, it is determined whether or not the current time is a third predetermined time after the second predetermined time. If the current time is the third predetermined time, the flow advances to step S9, where the automated guided vehicle 5 starts from the support unit 10 and travels along the predetermined second path in a state where the work unit A2 is mounted. For example, when the working unit A2 is an ultraviolet irradiation device, the automated guided vehicle 5 travels to another predetermined location, and the ultraviolet irradiation device is activated to irradiate ultraviolet rays along the second path. Alternatively, the ultraviolet irradiation device may be activated at a point in time when the automated guided vehicle 5 starts from the support portion 10. In addition, the second path may be the same as the first path.
Next, in step S10, it is determined whether or not the current time is a fourth predetermined time after the third predetermined time. If the current time is the fourth predetermined time, the process advances to step S11, and the automated guided vehicle 5 returns to the work unit replacement station 19. Thereafter, the process returns to step S2, and the working unit A2 attached to the automated guided vehicle 5 is replaced with the working unit A1 as described below.
Thus, in the present disclosure, the working unit to be mounted on the automated guided vehicle 5 is periodically and automatically replaced between the working unit A1 and the working unit A2. Therefore, for example, the cooperative robot (working unit A1) is attached to the automated guided vehicle 5 during the daytime and performs a predetermined operation together with the working vehicle, and the ultraviolet irradiation device (working unit A2) is attached to the automated guided vehicle 5 at night when the working vehicle exits and performs a sterilization operation.
The work unit replacement station 19 may include a charging unit (not shown) for the purpose of operating the automated guided vehicle 5 for a long period of time. The charging unit is automatically used when the automated guided vehicle 5 returns to the work unit replacement station 19, and charges a battery (not shown) of the automated guided vehicle 5. The automated guided vehicle 5 may return to the work unit replacement station 19 only for the purpose of charging the battery.
Fig. 3 is a flowchart for specifically explaining the replacement operation of the working unit shown in step S7 of fig. 2. Fig. 4A to 4F are diagrams for explaining the replacement operation of fig. 3. Next, a replacement operation of the replacement work unit will be specifically described with reference to fig. 3 to 4F.
As shown in fig. 4A, in step S21, the first lifter 41 is started to lower the first supporting portion 21 from the raised position to a predetermined lowered position in advance. Next, in step S22, the automated guided vehicle 5 with the work unit A1 attached thereto returns to the work unit replacement station 19 (corresponding to step S6 in fig. 2).
As described above, the slit 21a is formed in the first support portion 21. Accordingly, as is clear from fig. 4B, the automated guided vehicle 5 moves to the inside of the slit 21a through the entrance of the slit 21a located on the front side of the work unit changing station 19. Thereby, the automated guided vehicle 5 moves to a position corresponding to the first support portion 21.
Next, in step S23, the lock between the first work unit fixing portion 31 and the automated guided vehicle 5 is released. Then, in step S24, the first supporting portion 21 is raised from the lowered position to the raised position. As described above, the width of the slit 21a of the first support portion 21 is smaller than the width of the first work unit fixing portion 31 and larger than the width of the top of the automated guided vehicle 5. Therefore, when the first support portion 21 engages with the first work unit fixing portion 31 in the middle of the first support portion 21 being lifted, the first work unit fixing portion 31 is separated from the automated guided vehicle 5 and lifted to the lifted position together with the first support portion 21 (see fig. 4C).
Next, in step S25, the automated guided vehicle 5 moves from below the first support portion 21 to below the second support portion 22 (see fig. 4D). The automated guided vehicle 5 preferably moves only in the direction of juxtaposition of the first support section 21 and the second support section 22. Alternatively, the automated guided vehicle 5 may be temporarily withdrawn to the outside of the work unit replacement station 19, and externally moved to a position corresponding to the second support portion 22.
Next, in step S26, the second support portion 22 supporting the second work unit fixing portion 32 is lowered to a predetermined lowered position. As described above, the width of the slit 22a of the second support portion 22 is larger than the width of the automated guided vehicle 5 and smaller than the width of the second work unit fixing portion 32. Therefore, when the top of the second work unit fixing portion 32 engages with the top of the automated guided vehicle 5 while the second support portion 22 is being lowered, the second work unit fixing portion 32 is pushed by the top of the automated guided vehicle 5 and is separated from the second support portion 22. Thereby, only the second support portion 22 is lowered to the lowered position (refer to fig. 4E).
Finally, in step S27, the second work unit fixing portion 32 is fastened to the automated guided vehicle 5 by the locking mechanism. Thereby, the automated guided vehicle 5 can travel along the second path (see fig. 4F).
It is also known that the replacement from the second work unit A2 to the first work unit A1 is also substantially the same. The mounting operation of the first working unit in step S2 of fig. 2 corresponds approximately to steps S25 to S27 of fig. 3.
In this way, in the present disclosure, replacement of the working units A1, A2 can be automatically performed. That is, in the present disclosure, the replacement of the work unit provided in the automated guided vehicle 5 by the manufacturer is not required, and the replacement can be performed easily and quickly. Further, since it is not necessary to prepare a plurality of automated guided vehicles 5 having different working units, a low budget is sufficient, and the necessity of ensuring a space for storing the plurality of automated guided vehicles 5 can be eliminated.
Fig. 5 is a perspective view of a work unit replacement system according to the second embodiment. The support portion 10 of the work unit replacement station 19' shown in fig. 5 supports three or more, for example, five support portions 21 to 25 so as to be liftable. These support portions 21 to 25 support the working unit fixing portions 31 to 35, respectively.
In fig. 5, a working unit A1 as a cooperative robot is fixed to the working unit fixing portion 31, and a working unit A2 as an ultraviolet irradiation device is fixed to the second working unit fixing portion 32. Further, another cooperative robot is fixed as the working unit A5 to the working unit fixing portion 35. Although not shown in the drawings, any of the above-described working units is fixed to the working unit fixing portions 33 and 34.
In such a configuration, the working unit A1 attached to the automated guided vehicle 5 can be replaced with a working unit different from the working unit A2, for example, a working unit A3. The replacement of the working unit is the same as that described with reference to fig. 3. In fig. 5, the replacement can be performed between various work units. As a result, in fig. 5, it is known that the expandability of the work unit replacement system 1' can be improved.
In fig. 5, another automated guided vehicle 5' is shown. In this way, the plurality of automated guided vehicles 5, 5 'can use the common work unit replacement station 19'. In this case, it is not necessary to prepare different work unit replacement stations 19 'for the respective automated guided vehicles 5 and 5', and the cost can be reduced.
In fig. 5, three or more support portions 21 to 25 are arranged in a row. However, in the embodiment not shown, these support portions may be arranged in a plurality of rows. Alternatively, the plurality of support portions may be arranged in a ring shape, and such a case is also included in the scope of the present disclosure.
The work unit replacement system 1 may perform other operations than the above, for example, an operation of replacing a single work unit A1 among a plurality of automated guided vehicles. Hereinafter, the automated guided vehicle 5 is referred to as a first automated guided vehicle 5A, and the other automated guided vehicles 5' are referred to as second automated guided vehicles 5B. Fig. 6 is a flowchart for explaining other operations of the work unit replacement system. The contents of fig. 6 are stored in the memories of the computers provided in the automated guided vehicles 5A and 5B in the paths of the automated guided vehicles 5A and 5B. The first automated guided vehicle 5A and the second automated guided vehicle 5B are of the same type, and are preferably identical to the automated guided vehicles 5, 5A.
In step S31 in fig. 6, the working unit A1 mounted on the first automated guided vehicle 5A is started and travels along a predetermined path. At this time, the charge amount of the rechargeable battery of the first automated guided vehicle 5A is equal to or greater than the first predetermined value. For example, when the working unit A1 is an ultraviolet irradiation device, the first automated guided vehicle 5A travels while being irradiated with ultraviolet rays from the ultraviolet irradiation device.
Next, in step S32, the charge amount of the rechargeable battery of the first automated guided vehicle 5A is detected. Then, when the charge amount is equal to or less than the second predetermined value, it is determined that the charge amount is insufficient, and the first automated guided vehicle 5A is returned to the work unit replacement station 19 (steps S33 and S34).
Then, in step S35, the working unit A1 is detached from the first automated guided vehicle 5A. The operation of detaching the working unit A1 from the first automated guided vehicle 5A will be described later. Thereafter, the rechargeable battery is charged until the charge amount of the rechargeable battery of the first automated guided vehicle 5A becomes equal to or greater than the first predetermined value (steps S37, S38). Further, the first predetermined value as the charge amount is larger than the second predetermined value described above.
The working unit A1 detached from the first automated guided vehicle 5A is attached to the second automated guided vehicle 5B in step S43. The charge amount of the rechargeable battery of the second automated guided vehicle 5B is equal to or greater than the first predetermined value at the time point of step S43, and is sufficiently charged. The attachment of the working unit A1 to the second automated guided vehicle 5B will be described later.
Next, in step S44, the working unit A1, for example, the ultraviolet irradiation device is started, and the second automated guided vehicle 5B travels along the predetermined path. The predetermined path of the second automated guided vehicle 5B may be different from the predetermined path of the first automated guided vehicle 5A.
Next, in step S45, the charge amount of the rechargeable battery of the second automated guided vehicle 5B is detected. Then, when the charge amount is equal to or less than the second predetermined value, it is determined that the charge amount is insufficient, and the second automated guided vehicle 5B is returned to the work unit replacement station 19 (steps S46 and S47).
Then, in step S48, the working unit A1 is detached from the second automated guided vehicle 5B. The working unit A1 detached from the second automated guided vehicle 5B is attached to the first automated guided vehicle 5A in step S38. The rechargeable battery of the first automated guided vehicle 5A at this point in time has been charged above a first predetermined value. The operation of removing and attaching the working unit A1 will be described later. Thereafter, the rechargeable battery is charged until the charge amount of the rechargeable battery of the second automated guided vehicle 5B becomes equal to or greater than the first predetermined value (steps S41, S42).
Fig. 7 is a flowchart for specifically explaining the replacement operation of the automated guided vehicle. Fig. 8A to 8F are diagrams for explaining the replacement operation of fig. 7. Next, a replacement operation of the automated guided vehicle will be described specifically with reference to fig. 7 to 8F. In this example, the single work unit A1 and the components associated therewith, for example, the first work unit fixing portion 31, the first support portion 21, and the like are used, and the second support portion 22 is not used. For the sake of brevity, the first lifter 41 and the second lifter 42 are not shown in fig. 8A to 8F. In addition, the phenomenon already described with reference to fig. 3 may be partially and again described.
As shown in fig. 8A, in step S51, the first lifter 41 is started to lower the first supporting portion 21 from the raised position to a predetermined lowered position in advance. Next, in step S52, the first automated guided vehicle 5A with the work unit A1 attached thereto returns to the work unit replacement station 19 and moves downward of the first support portion 21 (corresponding to step S34 in fig. 6).
Further, the second automated guided vehicle 5B shown in fig. 8B stands by in advance at a position corresponding to the second support portion 22 of the work unit replacement station 19 or at another position. In this case, it is preferable that the rechargeable battery of the second automated guided vehicle 5B is precharged to the first predetermined value or more by the charging unit 45. Further, when the circle shown at the tip of the broken line extending from the charging unit 45 is black, it indicates that the corresponding automated guided vehicle is in charge. When the circle is white, it indicates that no charging is performed.
Next, in step S53, the lock between the first work unit fixing portion 31 and the first automated guided vehicle 5A is released. Then, in step S54, the first supporting portion 21 is raised from the lowered position to the raised position (fig. 8B). Thereby, the first work unit fixing portion 31 is separated from the first automated guided vehicle 5A and is lifted up to the raised position together with the first support portion 21 (see fig. 8C). Thereby, the working unit A1 is detached from the first automated guided vehicle 5A (steps S51 to S54 in fig. 7 correspond to step S35 in fig. 6).
Next, in step S55, the first automated guided vehicle 5A is retracted from below the first support section 21, and the second automated guided vehicle 5B is moved to below the first support section 21. As shown in fig. 8D, the positions of the first automated guided vehicle 5A and the second automated guided vehicle 5B may be changed to each other.
Next, in step S56, the first supporting portion 21 supporting the first working unit fixing portion 31 is lowered to a predetermined lowered position. When the top of the second automated guided vehicle 5B engages with the first work unit fixing portion 31 while the first support portion 21 is being lowered, the first work unit fixing portion 31 is pushed by the top of the second automated guided vehicle 5B and is separated from the first support portion 21. Thereby, only the first supporting portion 21 is lowered to the lowered position (refer to fig. 8E).
Next, in steps S57 and S58, the first work unit fixing portion 31 and the second automated guided vehicle 5B are fastened by the locking mechanism, and the work unit A1 is attached to the second automated guided vehicle 5B (steps S55 to S58 in fig. 7 correspond to step S43 in fig. 6). Thereby, the second automated guided vehicle 5B can travel along the predetermined path (see fig. 8F). The operation of detaching the working unit A1 from the second automated guided vehicle 5B (corresponding to step S48 in fig. 6) and the operation of attaching the working unit A1 to the first automated guided vehicle 5A (step S38 in fig. 6) are the same as those described above, and therefore, the description thereof is omitted.
In the present invention, the operation of removing the work unit A1 from one automated guided vehicle such as the first automated guided vehicle 5A and the operation of attaching the work unit A1 to the other automated guided vehicle such as the second automated guided vehicle 5B are continuously and automatically performed. Therefore, the working unit A1 is transferred from the unmanned vehicle having an insufficient charge amount to the other unmanned vehicle having a sufficient charge amount, and the working unit A1 can continuously continue the work for an operable time of itself, for example, for 24 hours or more.
In general, it takes several hours to charge a rechargeable battery of an automated guided vehicle. However, in the present invention, since the one automated guided vehicle is charged after the work unit A1 is mounted on the other automated guided vehicle after the charging is completed, the work unit A1 does not need to be put on standby. In other words, the standby time of the job unit A1 can be eliminated.
When the operation unit A1 is an ultraviolet irradiation device, the operation unit A1 is limited to use at night or the like in a hospital where no person is present, for example. In such an environment, even when the charge amount of the automated guided vehicle 5A is insufficient, the work unit replacement system 1 transfers the work unit A1 to another automated guided vehicle 5B that has been charged, and thereby can continuously operate the work unit A1 without generating a standby time for charging. Therefore, it is particularly advantageous in the case where the working unit A1 is an ultraviolet irradiation device. The same applies to the case where the working unit A1 is a sterilization unit or the like.
In this way, in the present invention, the work unit can be automatically replaced with another work unit, and the automated guided vehicle can be automatically replaced with another automated guided vehicle. Therefore, with the work unit replacement system 1, for example, it is possible to perform a guidance work by a work unit as a display in a hospital daytime, and to perform a sterilization work by attaching the work unit A1 as an ultraviolet irradiation device to another unmanned carrier 5 charged at night. That is, with the work unit replacement system 1, the same work of a single work unit can be continuously performed over the operation time of the automated guided vehicle 5, and different works of different work units can be sequentially performed.
Modes of the present disclosure
According to a first aspect, there is provided a work unit replacement system (1), the work unit replacement system (1) including: an unmanned carrier (5, 5'); a first working unit (A1) and a second working unit (A2); and a work unit replacement station (19, 19') for removing the first work unit attached to the automated guided vehicle and attaching the second work unit to the automated guided vehicle.
According to a second aspect, in the first aspect, the work unit replacement station includes: a first work unit fixing unit (31) to which the first work unit (A1) is fixed; a second work unit fixing unit (32) to which a second work unit (A2) is fixed; a first support portion (21) that partially supports the first work unit fixing portion; a second supporting portion (22) that partially supports the second work unit fixing portion; and a support unit (10) that supports the first support unit and the second support unit so as to be capable of ascending and descending, wherein slits (21 a, 22 a) having a width smaller than the widths of the first work unit fixing unit and the second work unit fixing unit are formed in the first support unit and the second support unit, respectively, the width of the slits is larger than the width of the automated guided vehicle, and the lower surface position of the support unit is higher than the top of the automated guided vehicle.
According to a third aspect, in the second aspect, the first work unit fixing portion is attached to the automated guided vehicle by moving the automated guided vehicle in the support portion to a position corresponding to the first support portion in a state where the first support portion supporting the first work unit fixing portion is located at a predetermined raised position, and lowering the first support portion to a predetermined lowered position.
According to a fourth aspect, in the second or third aspect, the automated guided vehicle having the first work unit fixing portion attached thereto is moved into the slit of the first support portion in a state where the first support portion is lowered to a predetermined lowered position, the first support portion is raised to a predetermined raised position, and the first work unit fixing portion is detached from the automated guided vehicle.
According to a fifth aspect, in the fourth aspect, the carrier from which the first work unit fixing portion is removed is moved in the support portion to a position corresponding to the second support portion, the second support portion is lowered to a predetermined lowered position, and the second work unit fixing portion is attached to the automated guided vehicle.
According to a sixth aspect, in any one of the first to fifth aspects, at a first predetermined time, the automated guided vehicle mounted with the first work unit fixing portion returns to the work unit replacement station, the work unit replacement station removes the first work unit fixing portion from the automated guided vehicle and mounts the second work unit fixing portion to the automated guided vehicle, and at a second predetermined time after the first predetermined time, the automated guided vehicle mounted with the second work unit fixing portion starts traveling.
According to a seventh aspect, there is provided a work unit change station (19, 19') comprising: a first work unit fixing unit (31) to which the first work unit (A1) is to be fixed; a second work unit fixing unit (32) to which a second work unit (A2) is to be fixed; a first support portion (21) that partially supports the first work unit fixing portion; a second supporting portion (22) that partially supports the second work unit fixing portion; and a support unit (10) for supporting the first support portion and the second support portion so as to be capable of ascending and descending, wherein slits (21 a, 22 a) having a width smaller than the widths of the first work unit fixing portion and the second work unit fixing portion are formed in the first support portion and the second support portion, respectively, the width of the slit is larger than the width of the automated guided vehicle to which one of the first work unit fixing portion and the second work unit fixing portion is to be attached, and the lower surface position of the support unit is higher than the top of the automated guided vehicle.
According to an eighth aspect, there is provided a work unit replacement system (1) including: a first automated guided vehicle (5A) and a second automated guided vehicle (5B); a working unit (A1); and a work unit replacement station (19, 19') for removing the work unit attached to the first automated guided vehicle and attaching the work unit to the second automated guided vehicle.
According to a ninth aspect, in the eighth aspect, the work unit replacement station includes: a working unit fixing unit (31) to which the working unit is fixed; a supporting portion (21) that partially supports the work unit fixing portion; and a support part (10) which supports the support part in a lifting manner, wherein a slit (21 a) is formed in the support part, the width of the slit is narrower than the width of the operation unit fixing part, the width of the slit is wider than the widths of the first unmanned carrier and the second unmanned carrier, and the lower surface position of the support part is higher than the tops of the first unmanned carrier and the second unmanned carrier.
According to a tenth aspect, in the ninth aspect, the first automated guided vehicle having the work unit fixing portion attached thereto is moved into the slit of the support portion in a state in which the support portion is lowered to a predetermined lowered position, the support portion is raised to a predetermined raised position, the work unit fixing portion is detached from the first automated guided vehicle, the first automated guided vehicle is withdrawn from the slit of the support portion, the second automated guided vehicle is moved into the slit of the support portion, the support portion is lowered to a predetermined lowered position, and the work unit fixing portion is attached to the second automated guided vehicle.
According to an eleventh aspect, in the tenth aspect, the charge amount of the second automated guided vehicle is higher than a first predetermined value, and the charge amount of the first automated guided vehicle is lower than a second predetermined value lower than the first predetermined value.
While the embodiments of the present invention have been described above, those skilled in the art will appreciate that various modifications and changes can be made without departing from the scope of the disclosure of the patent claims below.
Symbol description
1. 1' working unit changing system
5. 5', 5A, 5B unmanned carrier
5a control panel
10 support part
18 leg portions
19. 19' working unit changing station
21 first support part
21a slit
22 second support portion
22a slit
23 to 25 support portions
31 first working unit fixing portion
32 second working unit fixing portion
32-35 operation unit fixing part
41 first lifter
42 second lifter
45 charging unit
A1 to A5 working units.
Claims (11)
1. A work unit replacement system is characterized in that,
the work unit replacement system includes:
unmanned carrier;
a first work unit and a second work unit; and
and a work unit replacement station that removes the first work unit attached to the automated guided vehicle and attaches the second work unit to the automated guided vehicle.
2. The work unit replacement system of claim 1 wherein,
the work unit replacement station includes:
a first work unit fixing unit to which the first work unit is fixed;
a second work unit fixing unit to which the second work unit is fixed;
a first supporting portion that partially supports the first work unit fixing portion;
a second supporting portion that partially supports the second work unit fixing portion; and
a support section for supporting the first support section and the second support section so as to be capable of being lifted and lowered,
slits are formed in the first and second support portions respectively,
the width of the slit is narrower than the width of the first and second work unit fixing portions,
the width of the slit is wider than the width of the automated guided vehicle,
the lower surface of the support portion is positioned higher than the top of the automated guided vehicle.
3. The work unit replacement system of claim 2 wherein,
moving the automated guided vehicle in the support unit to a position corresponding to the first support portion in a state where the first support portion supporting the first work unit fixing portion is located at a predetermined raised position,
the first support portion is lowered to a predetermined lowered position, and the first work unit fixing portion is attached to the automated guided vehicle.
4. A work unit replacement system according to claim 2 or 3, wherein,
moving the automated guided vehicle having the first work unit fixing portion mounted therein into the slit of the first support portion in a state where the first support portion is lowered to a predetermined lowered position,
and lifting the first supporting portion to a predetermined lifting position, and removing the first work unit fixing portion from the automated guided vehicle.
5. The work unit replacement system of claim 4 wherein,
the carrier from which the first work unit fixing portion is removed is moved in the supporting portion to a position corresponding to the second supporting portion,
and lowering the second support portion to a predetermined lowered position, and attaching the second work unit fixing portion to the automated guided vehicle.
6. The work unit replacement system according to any one of claims 2 to 5, wherein,
at a first predetermined time, the automated guided vehicle mounted with the first work unit fixing portion returns to the work unit replacement station,
the work unit replacement station removes the first work unit fixing portion from the automated guided vehicle and attaches the second work unit fixing portion to the automated guided vehicle,
at a second predetermined time subsequent to the first predetermined time, the automated guided vehicle mounted with the second work unit securing portion starts traveling.
7. A work unit changing station is characterized in that,
the work unit replacement station includes:
a first work unit fixing portion to which the first work unit should be fixed;
a second work unit fixing portion to which the second work unit should be fixed;
a first supporting portion that partially supports the first work unit fixing portion;
a second supporting portion that partially supports the second work unit fixing portion; and
a support section for supporting the first support section and the second support section so as to be capable of being lifted and lowered,
slits are formed in the first and second support portions respectively,
the width of the slit is narrower than the width of the first and second work unit fixing portions,
the width of the slit is wider than the width of the automated guided vehicle to which one of the first work unit fixing portion and the second work unit fixing portion is to be attached,
the lower surface of the support portion is positioned higher than the top of the automated guided vehicle.
8. A work unit replacement system is characterized in that,
the work unit replacement system includes:
a first automated guided vehicle and a second automated guided vehicle;
a working unit; and
and a work unit replacement station that removes the work unit attached to the first automated guided vehicle and attaches the work unit to the second automated guided vehicle.
9. The work unit replacement system of claim 8 wherein,
the work unit replacement station includes:
a work unit fixing unit to which the work unit is fixed;
a supporting portion that partially supports the work unit fixing portion; and
a support part for supporting the support part to be capable of lifting,
a slit is formed in the support portion,
the width of the slit is narrower than the width of the working unit fixing portion,
the width of the slit is wider than the widths of the first and second automated guided vehicles,
the lower surface of the support portion is positioned higher than the tops of the first and second automated guided vehicles.
10. The work unit replacement system of claim 9 wherein,
moving the first automated guided vehicle having the work unit fixing portion mounted therein into the slit of the support portion while the support portion is lowered to a predetermined lowered position,
raising the support portion to a predetermined raised position, removing the work unit fixing portion from the first automated guided vehicle,
withdrawing the first automated guided vehicle from inside the slit of the supporting portion, and moving the second automated guided vehicle to inside the slit of the supporting portion,
and lowering the support portion to a predetermined lowered position, and attaching the work unit fixing portion to the second automated guided vehicle.
11. The work unit replacement system of claim 10 wherein,
the charge level of the second unmanned truck is higher than a first predetermined value,
the charge amount of the first automated guided vehicle is lower than a second predetermined value lower than the first predetermined value.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2021056154 | 2021-03-29 | ||
| JP2021-056154 | 2021-03-29 | ||
| PCT/JP2021/029771 WO2022208923A1 (en) | 2021-03-29 | 2021-08-12 | Work unit replacement system and work unit replacement station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117157233A true CN117157233A (en) | 2023-12-01 |
Family
ID=83457598
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202180096711.1A Pending CN117157233A (en) | 2021-03-29 | 2021-08-12 | Work unit replacement system and work unit replacement station |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP4317020A1 (en) |
| JP (1) | JPWO2022208923A1 (en) |
| CN (1) | CN117157233A (en) |
| WO (1) | WO2022208923A1 (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60242941A (en) * | 1984-05-15 | 1985-12-02 | Murata Mach Ltd | Portable robot system |
| JPH0936198A (en) | 1995-07-19 | 1997-02-07 | Hitachi Ltd | Vacuum processor and semiconductor production line using the processor |
| SE1450525A1 (en) * | 2014-05-02 | 2015-11-03 | Opiflex Automation AB | An automation system and a method for operating a production system |
| US9656806B2 (en) * | 2015-02-13 | 2017-05-23 | Amazon Technologies, Inc. | Modular, multi-function smart storage containers |
| JP7382597B2 (en) * | 2019-11-28 | 2023-11-17 | 川崎重工業株式会社 | Robot systems and robot cells |
-
2021
- 2021-08-12 EP EP21935083.2A patent/EP4317020A1/en active Pending
- 2021-08-12 JP JP2023510182A patent/JPWO2022208923A1/ja active Pending
- 2021-08-12 CN CN202180096711.1A patent/CN117157233A/en active Pending
- 2021-08-12 WO PCT/JP2021/029771 patent/WO2022208923A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| EP4317020A1 (en) | 2024-02-07 |
| JPWO2022208923A1 (en) | 2022-10-06 |
| WO2022208923A1 (en) | 2022-10-06 |
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